Add PWM control functionality
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1a517299a0
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E7484A06E99DAEF1
@ -127,10 +127,10 @@ void Error_Handler(void);
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#define D6_GPIO_Port GPIOB
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#define PWM2_1_Pin GPIO_PIN_5
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#define PWM2_1_GPIO_Port GPIOB
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#define PWM3_2_Pin GPIO_PIN_6
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#define PWM3_1_Pin GPIO_PIN_6
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#define PWM3_1_GPIO_Port GPIOB
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#define PWM3_2_Pin GPIO_PIN_7
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#define PWM3_2_GPIO_Port GPIOB
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#define PWM3_2B7_Pin GPIO_PIN_7
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#define PWM3_2B7_GPIO_Port GPIOB
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/* USER CODE BEGIN Private defines */
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@ -2,8 +2,8 @@
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#define MAPPINGS_H
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// CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
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#define SN_FRONT
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//#define SN_REAR
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//#define SN_FRONT
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#define SN_REAR
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#include <stdint.h>
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#include "main.h"
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@ -171,6 +171,35 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
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}
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};
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#define CAN_PWM_DC_ID 0x0DC
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#define CAN_PWM_CONF_ID 0x0DD
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#endif
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/* user needs
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TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
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*/
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typedef enum {
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PWM1 = 0, // TIM1
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PWM3 = 1, // TIM4
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PWM2 = 2, // TIM3
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} pwm_tim_t; // Used as index for PWM_TIM_MAP
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typedef struct {
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uint8_t tim;
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uint8_t ch;
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} pwm_ch_t;
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static pwm_ch_t PWM_CH_MAP[8] = {
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{ .tim = PWM1, .ch = 0 }, // TIM1_CH1
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{ .tim = PWM1, .ch = 1 }, // TIM1_CH2
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{ .tim = PWM1, .ch = 2 }, // TIM1_CH3
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{ .tim = PWM1, .ch = 3 }, // TIM1_CH4
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{ .tim = PWM3, .ch = 0 }, // TIM4_CH1
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{ .tim = PWM3, .ch = 1 }, // TIM4_CH2
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{ .tim = PWM2, .ch = 1 }, // TIM3_CH2
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{ .tim = PWM2, .ch = 3 } // TIM3_CH4
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};
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#endif
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@ -37,7 +37,7 @@
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define TIM_BASE_FREQ 96000000UL
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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@ -51,6 +51,9 @@
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/* Declare buffer in D1 domain SRAM */
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static uint16_t adc_values[NUM_ADC_PINS];
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static uint8_t dio_values[NUM_DIO_PINS];
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// See mappings.h pwm_tim_t
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TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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@ -137,7 +140,16 @@ int main(void)
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FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
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Error_Handler();
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// TODO: Add Filters and Rx Handler
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FDCAN_FilterTypeDef filter;
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filter.IdType = FDCAN_STANDARD_ID;
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filter.FilterIndex = 0;
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filter.FilterType = FDCAN_FILTER_MASK;
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filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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filter.FilterID1 = 0x0DD;
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filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
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if (HAL_FDCAN_ConfigFilter(&hfdcan1, &filter) != HAL_OK)
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Error_Handler();
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if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
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Error_Handler();
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@ -293,6 +305,51 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
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__asm volatile ("NOP");
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}
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}
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void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
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(&(Instance->CCR1))[ch] = dc;
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
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{
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if (handle != &hfdcan1 || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
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return;
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static FDCAN_RxHeaderTypeDef header;
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static uint8_t data[8];
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if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
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return;
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if (header.FDFormat != FDCAN_CLASSIC_CAN ||
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header.RxFrameType != FDCAN_DATA_FRAME ||
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header.IdType != FDCAN_STANDARD_ID)
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return;
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switch (header.Identifier) {
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case CAN_PWM_DC_ID:
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uint8_t* dcs = data;
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for (int i = 0; i < header.DataLength; i++) {
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TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
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SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
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if (htim->ChannelState[PWM_CH_MAP[i].ch] == HAL_TIM_CHANNEL_STATE_RESET)
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HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
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// MAYBE: Stop Timer when DC == 0 on all channels?
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// HAL_TIM_PWM_Stop(htim, channel);
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}
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break;
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case CAN_PWM_CONF_ID:
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uint16_t* freqs = (uint16_t*) data;
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for (int i = 0; i < (header.DataLength/2); i++) {
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uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
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PWM_TIM_MAP[i]->Instance->PSC = prescaler;
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}
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break;
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default:
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break;
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}
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}
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/* USER CODE END 4 */
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/**
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@ -437,7 +437,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
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PB6 ------> TIM4_CH1
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PB7 ------> TIM4_CH2
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*/
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GPIO_InitStruct.Pin = PWM3_2_Pin|PWM3_2B7_Pin;
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GPIO_InitStruct.Pin = PWM3_1_Pin|PWM3_2_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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@ -354,7 +354,7 @@ PB5.GPIOParameters=GPIO_Label
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PB5.GPIO_Label=PWM2_1
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PB5.Signal=S_TIM3_CH2
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PB6.GPIOParameters=GPIO_Label
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PB6.GPIO_Label=PWM3_2
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PB6.GPIO_Label=PWM3_1
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PB6.Signal=S_TIM4_CH1
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PB7.GPIOParameters=GPIO_Label
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PB7.GPIO_Label=PWM3_2
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@ -607,13 +607,19 @@ TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
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TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
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TIM1.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
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TIM1.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period
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TIM1.Period=255
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TIM1.Prescaler=753
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TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
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TIM3.IPParameters=Channel-PWM Generation2 CH2,Channel-PWM Generation4 CH4
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TIM3.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation2 CH2,Prescaler,Period
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TIM3.Period=255
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TIM3.Prescaler=1203
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TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
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TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period
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TIM4.Period=255
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TIM4.Prescaler=19
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TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
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TIM6.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger,AutoReloadPreload
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TIM6.Period=2000-1
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